ci: Add cargo audit CI action

.github/workflows/audit.yml

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+# Licensed to the Apache Software Foundation (ASF) under one
+# or more contributor license agreements.  See the NOTICE file
+# distributed with this work for additional information
+# regarding copyright ownership.  The ASF licenses this file
+# to you under the Apache License, Version 2.0 (the
+# "License"); you may not use this file except in compliance
+# with the License.  You may obtain a copy of the License at
+#
+#   http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing,
+# software distributed under the License is distributed on an
+# "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
+# KIND, either express or implied.  See the License for the
+# specific language governing permissions and limitations
+# under the License.
+
+name: audit
+
+concurrency:
+  group: ${{ github.repository }}-${{ github.head_ref || github.sha }}-${{ github.workflow }}
+  cancel-in-progress: true
+
+# trigger for all PRs that touch certain files and changes to master
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    paths:
+      - '**/Cargo.toml'
+      - '**/Cargo.lock'
+
+jobs:
+  cargo-audit:
+    name: Audit
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: rustsec/[email protected]
+        with:
+          token: ${{ secrets.GITHUB_TOKEN }}